Capacitive sensing techniques

ABSTRACT

One embodiment of the present invention comprises a sensor with a face having several tracks spaced apart from one another. One of these tracks has a first electrode and a second electrode separated by an electrically nonconductive gap. Also included is a detection device extending across the tracks to receive signals by capacitive coupling. Sensor circuitry electrically coupled to the tracks and the detection device is structured to generate a first number of bits from a sequential signal pattern applied to the tracks in accordance with an established sequence. The circuitry is also structured to generate a second number of bits as a function of a first signal and a second signal. The first bits and second bits represent a position of the detection device along the tracks with the first bits being more numerically significant than the second bits.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit of U.S. Provisional PatentApplication No. 60/582,205 filed on 23 Jun. 2004, which is herebyincorporated by reference in its entirety.

FIELD OF THE INVENTION

The present invention generally relates to the field of positionsensors, and more specifically, but not exclusively, relates tonon-contacting rotary or linear position encoders for sensing absoluteposition of a structure over a predetermined range of rotation.

BACKGROUND

Position sensors include devices that generate change to anelectronically interrogated physical parameter based on movement of astructure, such as, for example, an actuator shaft operatively coupledto the sensor. For non-contacting sensors, this change is achievedwithout physical contact to reduce fatigue failures or systemdegradation due to sensor drag or noise as desired for certainapplications. In encoder devices, the physical parameter movementresults in the generation of an electronic code representative ofposition or movement.

In most non-contacting sensor applications, it is often desired that theabsolute position of the interrogated structure be provided within apre-defined measurement range upon the application of electric power. Itis also often desired that the position information be accurate andincrement in a known linear fashion. Many electronically interrogatednon-contacting properties have been applied to achieve such positionsensing including, for example, light detection, magnetism, capacitance,inductance, and RF transmission.

In the area of rotary position sensing, particularly over a measurementrange of 360 degrees, optical encoders are common. Optically basedsensors typically employ an illumination source and an array ofreflective or transparent coded segments and correspondinglight-sensitive detectors. Optical sensors often suffer from limitationsin operating temperature, and susceptibility to contamination and lightsource aging. In addition, to provide access to position informationcommensurate with the application of electric power, complicated encoderstructures or multiple sensors have resulted that usually increase thecost and overall size of the sensor package. Accordingly, opticalsolutions are often executed as incremental encoders that count inprecise units once a known position is detected within the encodedpattern. This type of sensor generally cannot provide positioninformation with the immediacy desired unless enhanced by electronicmemory, a secondary absolute position sensor input, or the like.

Thus, there continues to be a need for further contributions in thisarea of technology.

SUMMARY

One embodiment of the present invention is a unique sensing technique.Other embodiments include unique methods, devices, systems, andapparatus to sense position. In one form, a non-contacting positionencoder includes a multitrack electrode pattern traversed by acapacitively coupled electrode device. In another form one electrodecapacitively couples to at least two electrodes of a sensor trackseparated from one another by an intervening gap. The two electrodesreceive voltage waveforms where one is generally an inversion of theother. In still another form of the present invention, a hybridcombination of these forms is provided.

In a further form of the invention, a digital encoder is implemented byusing the AC characteristics of capacitive coupling from activelydriven, spatially coded segments on a static element to a narrow pickoffon a moving element. In one example, the static element of a rotarysensor contains electrically conductive coded segments with alternatingannular TRUE and COMPLEMENT sections arranged radially or transverse tothe direction of sensor movement in a multiple-bit Gray code pattern ona non-conductive substrate. The resulting concentric annular ringsegments represent the bit sequence for the Gray code representationwith either the MSB or LSB located at the inner most ring position andthe appropriate segment configuration proceeding in the outward radialsequence. The alternating annular TRUE and COMPLEMENT segments of eachbit ring are electrically connected to two common input nodes, one forthe TRUE and one for the COMPLEMENT.

The TRUE sections are driven with a positive-going pulse pattern, andthe COMPLEMENT sections are driven simultaneously with a negative-goingpulse pattern. These pulse patterns are sequentially applied to theradially spaced annular ring patterns in a direction transverse to thedirection of movement of the sensor from the MSB toward the LSB, or viceversa. A narrow movable conductive pickoff having a width determined bythe intended resolution of the sensor system is held above thestationary encoded pattern and substrate at a fixed distance and extendsradially (transverse to sensor movement) from the inner bit ring to theouter bit ring. The combination of the static code segments and theoverlapping pickoff surface form two plates of a capacitor and serves asa summing element and position sensing element for capacitively coupledpulses received from the static code segments over which the pickofflays. Air or some other material between the stationary encodersubstrate and the rotating pickoff acts as the dielectric media throughwhich these pulses are capacitively transmitted. The summing action ofthe pickoff provides a way of edge-sensing that is desired in manyimplementations. The pickoff signal is connected to processing circuitsthrough capacitive transmitter and receiver plates.

In the rotary sensor embodiment described here, the capacitivetransmitter can be realized by a conductive ring concentric with theaxis of rotation and attached to one end of the pickoff. A duplicatering is placed directly across from the rotating ring on the stationaryencoder substrate, with each ring forming the plate of a capacitor thatis electrically coupled in series with the code/pickoff capacitorstructure. The capacitively coupled signal is amplified by the sensor'sprocessing circuits, and the significant pulses are detected with aself-referencing comparator to produce a series of true or false digitalsignals which, when synchronized with the drive signal applied to thestationary encoder pattern, can be decoded in a synchronizedGray-to-binary conversion circuit for an accurate representation of themoving pickoff structure relative to the stationary encoder structure.

In yet another form of the present invention, the positive and negativegoing pulses are applied sequentially in time to adjacent conductivepatterns of equal size in the sensed direction. The pickoffconfiguration described in the previous form, modified such that thewidth is approximately equivalent to one of the adjacent patterns, isused to couple the pulses to a sample-and-hold circuit where thesuccessive amplitudes of the received TRUE and COMPLEMENT pulses aremeasured. The resulting amplitudes correspond to the relative position,or resulting overlap area, of the pickoff over the TRUE or COMPLEMENTpattern segment. If the TRUE and COMPLEMENT amplitudes are comparedratiometrically, the resulting value will accurately represent theabsolute position of the pickoff within the distance defined by theadjacent patterns.

A further embodiment includes a first sensor member defining a number oftracks spaced apart from one another, a second sensor member including acapacitive electrode area, and circuitry including an electrical signalsource, logic, and a detection circuit. The tracks are each comprised ofcapacitive electrode segments spaced apart from one another bycorresponding electrically non-conductive gaps. The electrode area ofthe second sensor member spans across the tracks to correspondinglyoverlap one or more of the segments of each of the tracks. The signalsource generates a signal pattern over a sequence of time periods toprovide a changing voltage to each one of the segments in accordancewith an established sequence of respective time periods. The electrodearea of the second sensor member is capacitively coupled to one or moresegments of each of the tracks to detect a sequence of signals emittedin response to the signal pattern. The detection circuit is electricallycoupled to the electrode area and the logic of the circuitry. This logicis responsive to the source and the detection circuit to determineinformation corresponding to position of the electrode area relative tothe tracks.

Still a further embodiment includes a sensing device with a facedefining a plurality of tracks electrically isolated from one another.One of the tracks includes a first set of electrodes spaced apart fromone another by a corresponding set of electrically non-conductive gaps.This set of electrodes includes a first subset electrically coupled to afirst electrical node and a second subset electrically coupled to asecond electrical node. The electrodes of the first subset and theelectrodes of the second subset alternate with one another along thetrack. In one form, this embodiment includes electrical signal circuitrywith a noninverting output coupled to the first node and an invertingoutput coupled to the second node, and an electrode device positionedopposite the face of the sensing device to capacitively couple to theelectrodes of the track.

Still another embodiment includes: generating a signal pattern torepetitively provide a changing voltage to each of two or more tracks ofthe sensor, capacitively coupling an electrode of the sensor to thetracks to determine a first electrode position along the tracks bydetecting a first group of signals emitted in response to the signalpattern, moving one or more of the electrode and the tracks relative tothe other to result in a second electrode position along the tracksdifferent than the first electrode position, and detecting a secondgroup of signals emitted in response to the signal pattern with theelectrode capacitively coupled to the tracks to determine the secondelectrode position.

In a further embodiment, a sensor track is provided that includes afirst electrode spaced apart from a second electrode by an electricallynon-conductive gap. A third electrode is also provided that ispositioned opposite the track. A first voltage waveform is applied tothe first electrode and a second voltage waveform is applied to thesecond electrode. The third electrode is capacitively coupled to thetrack to detect a first signal from the first electrode in response tothe first waveform and a second signal from the second electrode inresponse to the second waveform. Information representative of positionof the third electrode along the sensor track is determined as afunction of the first signal and the second signal.

Yet another embodiment includes: encoding a first set of bits with asensor including several sensor tracks and an electrode, where the bitseach correspond to a different one of these tracks; applying a firstvoltage waveform to the first electrode segment of one of the tracks anda second voltage waveform to a second electrode segment of this track,where the segments are spaced apart from one another by an electricallynon-conductive gap; capacitively coupling the electrode to the segmentsto provide a corresponding set of signals in response to the waveforms;and determining a second set of bits as a function of these signals withthe sensor, where the first set of bits and the second set of bitsrepresent a sensed position and the first set of bits is numericallymore significant than the second set of bits.

A further embodiment includes: providing a sensor with a first memberincluding a first electrode and a second electrode separated form thefirst electrode by an electrically nonconductive gap between the firstelectrode and the second electrode, and a second member including athird electrode positioned opposite the first member; sequentiallyapplying a first voltage waveform to the first electrode and a secondvoltage waveform to the second electrode; capacitively coupling thethird electrode to the first member to provide a first signal inresponse to the application of the first waveform and a second signal inresponse to the application of the second waveform; and evaluating thefirst signal and the second signal relative to one another to resolveposition of the third electrode.

Another embodiment includes: applying a voltage waveform sequence to asensor track that includes a first electrode and a second electrodeseparated by an electrically nonconductive gap, and a third electrodepositioned opposite the track; capacitively coupling the third electrodeto the first electrode and the second electrode to provide a sequence ofdetection signals in response to the waveform sequence; processing thesequence of detection signals to provide a comparison of a signal sumand a signal difference; and interpolating position of the thirdelectrode relative to a range along the first electrode, the gap, andthe second electrode.

In another embodiment, an apparatus comprises: a sensor face including atrack with a first electrode and a second electrode separated from oneanother by an electrically nonconductive gap; a detection device spacedapart from the track to receive signals form the first electrode and thesecond electrode by capacitive coupling; and sensor circuitryelectrically coupled to the track and the detection device. Thecircuitry includes means for providing a voltage waveform sequence tothe first electrode and the second electrode and means for processing asequence of detection signals from the detection device in response tothe waveform sequence. The processing means includes means for comparinga signal sum and a signal difference to interpolate position of thedetection device relative to a range of positions along the firstelectrode and the second electrode.

A further embodiment includes: providing a sensor track including afirst electrode and a second electrode separated form the firstelectrode by an electrically nonconductive gap between the firstelectrode and the second electrode, and a third electrode positionedopposite the first member; applying a first voltage waveform to thefirst electrode and a second voltage waveform to the second electrode,the second waveform being different than the first waveform; andcapacitively coupling the third electrode to the track to determine oneof two binary states representative of position of the third electroderelative to the first electrode, the second electrode, and the gap.

It is one object of the present invention to provide a unique sensingtechnique. Alternatively or additionally, another object is to provide aunique method, apparatus, system or device for sensing position. Furtherobjects, forms, embodiments, features, advantages, benefits, and aspectsof the present invention will become apparent from the drawings anddescription contained herein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagrammatic view of a sensor.

FIG. 2 is a diagrammatic view including selected aspects of circuitry ofthe sensor of FIG. 1.

FIG. 3 is a diagrammatic view showing further details of the time-basegenerator shown in FIGS. 1 and 2.

FIG. 4 is a timing diagram illustrating the generation of changingvoltage pulses with the generator of FIGS. 1-3.

FIG. 5 is a diagrammatic view of a processing circuit included in thesensor of FIG. 1.

FIG. 6 is a schematic diagram further illustrating one implementation ofthe circuit of FIG. 5.

FIG. 7 is a timing diagram showing inputs to the comparator of FIG. 6.

FIGS. 8A-8C illustrate different outputs of the comparator of FIG. 6 fordifferent input conditions.

FIG. 9 is a schematic circuit diagram illustrating one implementation ofthe synchronization register and decoder shown in FIGS. 5 and 6.

FIG. 10 is a diagrammatic view of another type of sensor.

FIG. 11 is a comparative timing diagram illustrating the operation ofthe sensor of FIG. 10.

FIG. 12 is a schematic diagram representing still other aspects of thesensor of FIG. 10.

FIG. 13 is a partial diagrammatic view of yet another type of sensor.

FIG. 14 is a partial diagrammatic view of still another type of sensor.

FIG. 15 is a partial diagrammatic view of a further type of sensor.

FIG. 16 is a planar view of another sensor type.

FIG. 17 is a partial view of the sensor shown in FIG. 16 includingdetails of a pickup electrode.

FIG. 18 is partial diagrammatic view of a single track position sensorof one type.

FIG. 19 is a partial diagrammatic view of a single track position sensorof another type.

FIG. 20 is diagrammatic side view of a torque sensor.

FIG. 21 is a partial diagrammatic view of a stator for the torque sensorof FIG. 20.

FIG. 22 is a partial diagrammatic view of an encoder rotor of the torquesensor of FIG. 20.

FIG. 23 is a partial diagrammatic view of a pickup rotor of the torquesensor of FIG. 20.

DETAILED DESCRIPTION

For the purposes of promoting an understanding of the principles of theinvention, reference will now be made to the embodiments illustrated inthe drawings and specific language will be used to describe the same. Itwill nevertheless be understood that no limitation on the scope of theinvention is hereby intended, and that alterations or furthermodifications of the described embodiments and/or further applicationsof the principles of the invention as illustrated herein arecontemplated as would normally occur to one skilled in the art to whichthe invention relates.

In one form of the invention, a capacitively coupled position encoder isprovided. This encoder detects the position of a capacitive plate on anelement relative to coded segments on an opposing element. The movementbetween encoder elements can be rotary and/or linear. In onearrangement, the digital encoder comprises an absolute position encoderrather than an incremental encoding system. For this arrangement, thesystem reports the proper position in response to the application ofpower.

In one implementation, the digital encoder is based on etched printedcircuit board technology (PCB) for low-cost production. For one rotaryform, the encoder device includes a set of coded angular sectors on onepart, such as a stator, to which are applied a sequential pattern ofchanging voltage pulses. A narrow, capacitively coupled pickoff on amoving part, such as a rotor, overlays the coded sectors, with thepickup and the coded sectors separated by a small air gap or anothersuitable dielectric medium. As the rotor moves, the pickoff receivesdifferent patterns of pulses from the stator, which by the sectoredgeometry of the encoding method correspond to the angle of the rotorwith respect to the stator. The coded arcs on the stator are laid outusing a Gray code scheme. The Gray code produces only one bit codetransition at a time, avoiding ambiguities that can arise from multi-bittransitions. However, it should be understood that other code formatscan be used as would occur to one of skill in the art.

As described above, the rotor contains a narrow radial conductive stripor pointer that overlays the code segments on the stator, with the stripseparated from the code segments by a small air gap or another type ofdielectric. The angular width of this strip relates to the resolution ofthe encoder. In this example, a nine bit encoder (512 values)corresponds to a least significant bit (LSB) angular representation thatis 360/512 or approximately 0.703 degrees wide. In one Gray codeimplementation, the smallest segment is twice as wide as an LSB angularsector, or about 1.406 degrees. With regard to this encoder arrangement,it is the edge transitions of the coded elements that tend to determinethe sensor resolution. The pickoff width can be up to the same dimensionsince the position accuracy is determined not by the pickoff width, butby the ability to sense the edge transitions between adjacent TRUE (T)to COMPLEMENT (C) code segments. The pickoff sums the two signals, andwhen generally centered over the transition, the output changes state.

For patterns defined with PCB etching and/or photolithographictechniques, the accuracy of the system depends on how welledges/transitions are detected, and on the accuracy of the pattern. Inone circular disk embodiment of a stator, inner arc segments correspondto the most significant bit (MSB) and outer arc segments correspond tothe least significant bit (LSB) (or vise versa), and are sequentiallyenergized with narrow voltage pulses. For this embodiment, a movablepickoff rotor, separated from the stator by an electronicallynonconductive gap, picks up the pulses corresponding to the position ofthe pickoff over the stator code arcs through capacitive coupling. Theresulting coded pulse train is coupled back to amplifying and processingcircuits on the stator board through adjacent “transmitter” and“receiver” rings on the rotor and the stator. Since the coupling ringsare of a generally uniform radius and height around the axis, couplingcapacity does not undesirably change with the angle of rotation.

The dimensions of each Gray-coded arc on the stator are sized as afunction of radial position for this circular disk embodiment to producean approximately equal surface area for each bit under the code pickoff.With the equal area for each bit, the received signals are nominallyequal in amplitude. In addition to the primary (TRUE) code segments ofsuch stator that are driven with positive-going pulses; alternatingsegments of equal length are simultaneously driven with negative-going(COMPLEMENT) pulses. The negative pulses correspond to the binary “zero”returns from the coded array, and the positive pulses correspond to thebinary “ones” of the coded array. When the pickoff approaches a codetransition, it overlays portions of both TRUE and COMPLEMENT codesegments. At the capacitively coupled pickoff face, the signals areadditive so that at the edge of the code transition from a “zero” to a“one” (or the reverse), the signals cancel. Processing circuits on thestator detect the transition point and correspondingly change theoutput. A narrow angular footprint of the pickoff provides for generallyuniform proportioning of the relative amplitudes of the signals, evenwith variations in the gap between the stator and rotor as the rotormoves relative to the stator.

The code strip (stator segment) driver circuits produce a series ofshort, high-frequency logic-level pulses to provide adequate couplingacross the small capacities of the stator-to-rotor circuit. The circularcoupling capacitor plates for the return signal are designed to besubstantially larger in area than any individual pickoff bit signal areato reduce coupling losses back to the detection circuits. The summingaction of the sensor pickoff over the spatial pulse pattern generated bythe Gray coded TRUE and COMPLEMENT segments enhances accuracy. Eachpulse provided to the stator segments is followed by sufficient deadtime to allow the pickoff amplifier input stage to settle to a stablelevel.

In one embodiment of a 9-bit digital encoder, the source of the TRUEpulse train is a logic drive stage producing O-to-5 volt narrow pulsesapplied to the TRUE segments of the Gray code arcs. The COMPLEMENT pulsetrains are produced in an inverting logic drive stage with 5-to-0 voltnegative-going pulses applied to the COMPLEMENT segments of the codearcs. Because the signals are AC coupled over the capacitive link, thesignal received at the pickoff amplifier is a train of positive andnegative going pulses centered on the local virtual ground. At almostany angle, the pickoff lays over a mix of TRUE and COMPLEMENT codesignals. The duty cycle of the pulse train is low so as to accommodate asimple low-pass filter which provides the average level of the pickoffsignal, which is applied to the reference input of a high-speedcomparator. The amplified TRUE and COMPLEMENT mixed pulse train isapplied to the other input of the comparator.

The logic level output of the comparator is loaded into a register stagewith a synchronizing pulse generated by the driver timing logic whichcoincides with the center of the received code pulse. With thesynchronized detection, only valid pulse samples are selected, whichreduces noise or signal ambiguity. For example, a logical “zero” pulsereturn is negative, and well below the comparator reference threshold atthe time of the synchronization pulse, whereas a logical “one” ispositive and substantially above the threshold. In one embodiment, thesignal goes through an inverting amplifier before it is applied to thecomparator so the signal is inverted. At all other times, the output ofthe comparator could be ambiguous and may be ignored.

At a code edge transition, both a TRUE and COMPLEMENT pulse from thesame code sector radius are coupled by the pickoff into the receivercircuit. The relative magnitude and polarity of the pickoff pulse outputchanges as the segment edge is passed due to the summing nature of thepickoff element. When the pickoff is generally centered over the edge,the signals cancel one another out. The comparator circuit includes asmall hysteresis component that produces a sharp state transition atthat point. Additionally, the timed sample pulse insures that the validcomparator outputs are applied to the sensor's decoding logic. Bystructuring the Gray code pulse sequential output with the MSB first,decoding to a binary position word can be performed serially. Using thesynchronization pulse as the clock and a recursive sequence through apair of flip-flops and an exclusive-OR gate, the Gray coded data isconverted to binary and loaded into an output register in thisembodiment. The combination of the TRUE code segments with theirpositive-going TRUE pulses and the alternating COMPLEMENT segments withthe negative-going COMPLEMENT pulses on the stator tend to cancel outpotentially adverse stray coupling.

In one embodiment, the pickoff “receiver” ring on the stator is shieldedwith narrow guard rings around the inner and outer circumference. Theguard rings are connected to a low impedance output of a first stagepickoff amplifier. This amplifier has a noninverting gain of about unityto better match the high impedance capacitive pickoff to the lowerimpedance processing circuits. By connecting this low impedance outputto the guard rings, the rings have about the same signal amplitude asthe input, potentially lowering stray capacitance and providingshielding.

In a further embodiment of the invention, the layout and separation ofthe analog and digital ground circuits are configured to provide largeconductive areas to decouple the amplifiers and logic stages. A commonconnection at a single point is provided at the comparator groundterminal, preferably at the joint DC return of the processing circuits.In the multilayer stator board, a ground shield in interposed betweenthe outer code segments on the face of the stator and the inner layer ofdriver and receiver circuits. The sequential code pulse generation,synchronizing signals, and the decoding logic can all be incorporated inthe routines of a single microcontroller. The amplifiers and comparatorare preferably single devices, operating from a common +5.0 volt powersupply. The power supply could also be used to power themicrocontroller.

In a further embodiment, the digital encoder includes a secondarypickoff having separate coupling rings. The secondary pickoff is spacedat an offset angle which includes an additional half least significantbit offset. With appropriate decoding and processing, this embodimentcan double the resolution of the sensor. The secondary pickoff mayfunction as a redundant pickoff for reliability and faultchecking/detection. The secondary pickoff can be positioned 180 degreesout of phase (or at any other convenient phase angle) relative to theprimary pickoff, and the fixed offset can be subtracted to produce anoutput that substantially matches the primary pickoff. If the outputs ofthe primary and secondary pickoffs do not match, a warning could beissued. In another embodiment, three pickoffs could be utilized, and atwo-out-of-three output signal vote could be used to ensure a validoutput.

In a further embodiment, only the primary TRUE Gray code segments on thestator are implemented, alternating with a ground plane. This techniquecan be used with a dual pickoff arrangement. The primary TRUE pickoffcould comprise a straight radial element with the secondary COMPLEMENTpickoff using small area segments which are interconnected and spaced tolay over the corresponding COMPLEMENT positions for each bit relative tothe stator code segments. The outputs of the two pickoff channels may becombined in the amplifiers so that the TRUE and COMPLEMENT signalscancel at the code segment edge transitions to provide a sensing resultsimilar to the system described above.

Having described various components and features associated with severalembodiments of digital encoders falling within the scope of the presentinvention, reference will now be made to embodiments illustrated inFIGS. 1-9. One embodiment of a non-contact encoder and encodingtechnique is described in connection with sensor 100 of FIG. 1. Sensor100 includes circuitry 110 connected to sensor face 112 and detectiondevice 114. The illustrated technique is based on applying a sequence oftime-based pulses from a digital signal generator 10 of circuitry 110 toa set of conductive plates 1 arranged in a Gray code binary pattern 116of tracks 120 carried on a fixed surface of face 112. Only a few plates1 are designated by reference numerals to preserve clarity. Circuitry110 also includes pulse code receiving and processing circuit 150. Asuitably dimensioned narrow pickoff 2 is mounted on rotor member 13 thatmoves relative to code pattern 116 carried on stator member 12. Pickoff2 is separated from code pattern 116 by a small electricallynonconductive gap 122. Pickoff2 defines face 224 positioned oppositeface 112. Face 124 defines an electrically conductive electrode 226 thatextends across tracks 120 generally transverse to the direction ofrelative movement between face 112 and face 124. While beingschematically represented in a linear fashion in FIG. 1, pattern 116 isphysically arranged in an approximately circular pattern, as shown inthe embodiment of FIG. 13 described in greater detail hereinafter. Forthis arrangement, tracks 120 can be concentrically oriented about apivot point with rotor member 13 (including pickoff 2) being configuredto rotate about this point as it scans tracks 120. Nonetheless, in otherembodiments various features, such as pattern 116, tracks 120, andpickoff 2, can be differently arranged.

The pickoff 2 receives pulses capacitively coupled from the codesegments that lie beneath the position of the pickoff 2. The codestrips, in addition to being divided into binary weighted areas, such asBit n (MSB), Bit n−1., etc., are divided into TRUE (T) and COMPLEMENT(C) sectors 3, 4. The TRUE and COMPLEMENT sectors 3, 4 in turncorrespond to ones and zeros of a digital code signal. In oneembodiment, the TRUE pulse signals are positive-going while theCOMPLEMENT pulse signals are negative-going. However, it should beunderstood that other configurations are also contemplated.

Referring particularly to FIG. 2, tracks 120 are segmented into arcuateelectrode segments 130, only a few of which are designated by referencenumerals to enhance clarity; and that are the same as plates 1 in thisembodiment. In FIG. 2, like features represent like reference numeralspreviously described in connection with FIG. 1. Segments 130 are eachcomprised of an electrically conductive material that are spaced apartfrom one another along a given track 120 by a corresponding one ofelectrically nonconductive gaps 132. In one form, segments 130 areformed along face 112 from a metallization layer using standardphotolithographic techniques.

Electrode segments 130 are comprised of a subset of TRUE (T) electrodes134 and a subset of COMPLEMENT (C) electrodes 136 that are the same assectors 3 and sectors 4, respectively. As detection device 114 movesalong tracks 120, electrodes 134 and 136 in close proximity to device114 capacitively couple with electrode 226 of pickoff 2. This capacitiverelationship is schematically represented as parallel capacitances C1and C2 in FIG. 2.

Through this capacitative coupling with tracks 120, pickoff 2 performs asumming function, effectively combining the sequential bit pulses into abipolar serial pulse train corresponding to the Gray code, andrepresenting position of device 114 along tracks 120. Signal couplingplate rings 14 return the pulse train back to amplifier-comparatorcircuits 15 of circuitry 110. When the pickoff 2 overlaps a particularset of simultaneous TRUE and COMPLEMENT pulse sectors 3, 4, (orelectrodes 134 and 136), the larger signal will dominate. When thepickoff2 is generally centered over one of gaps 132 and between sectors3 and 4 (electrodes 134 and 136), the pulses will be approximately equaland the sum is approximately equal to zero. This summing operation inconjunction with alternately positive and negative pulses provide sensor100 with digital encoding of a relatively high degree of accuracy andprecision. In one arrangement, the width of the smallest (of segments130 of pattern 116) is approximately equal to twice the size of theleast significant bit of the sensor output. This setup is characteristicof the Gray code, which is sometimes referred to as reflected binary.The pickup 2 can also define a width that is twice the size of the leastsignificant bit.

Referring to the block diagram of FIG. 2, digital time-base generator10, which provides the pulse generation and timing for sensor 100,Gray-coded TRUE and COMPLEMENT electrodes 134 and 136 associated withstator 12, a narrow 0.703 degree pickoff2 associated with rotor 13,capacitive feedback coupling rings 14, an analog pulse amplifier andcomparator 15, a synchronized digital sampling register 16, and adigital serial Gray-to-binary decoder 17 are illustrated in schematicform.

Referring to FIG. 3, illustrated therein is one form of time-basegenerator 10. Generator 10 can be implemented with custom logic, ageneral-purpose microcontroller with application specific firmware,and/or using different techniques as would be known to those skilled inthe art. Generator 10 includes clock oscillator 18 which is used togenerate pulses by dividing its output down to a lower frequency withduty-cycle timing for the pulse sequence. A first counter-divider 19determines the timed spacing between the pulses and generates the lowduty-cycle pulse strobe PS applied to the succeeding stages. Asynchronizing circuit 21 generates a delayed strobe pulse SP. A secondcounter-divider 22 has nine states, with four line outputs defining thenine successive bits of the sensor's position-determining signal. Thefour-to-nine line decoder 23 is gated by signal PS from divider 19 toprovide nine sequential pulsed signals having a duty cycle determined bythe ratio of the clock 18 period and the first divider stage 19. Becausethe received pulse signals typically have a trailing edge overshoot andneed time to settle back to a reference level, a low duty cycle isgenerally desired. The nine parallel outputs of counter 23 are appliedto a nine-bit parallel line driver stage 24 which are each connected tothe TRUE segments 130 of a different one of tracks 120. The pulse trainsare also applied to a nine-bit inverting parallel line driver stage 25which are each connected to the COMPLEMENT segments 130 of a differentone of tracks 120. Accordingly, all the TRUE electrodes 134 for a giventrack 120 are coupled together at the same noninverting electrical node144 of a corresponding one of the nine outputs of driver 24. For eachdifferent track 120, all the COMPLEMENT electrodes 136 of a given track120 are coupled together at the same inverting electrical node 146 of acorresponding one of the nine outputs of driver 25.

Referring to FIG. 4, shown therein is a graph illustrating code pulsetiming with the pulse strobe PS and selected sequential outputs appliedto the pulse drivers 24 and 25. Ellipses are used to represent thepulses between Bit 1 and Bit 6, which follow a like pattern from left toright. Referring to FIG. 5, shown therein is a block diagram ofprocessing circuit 150, from the pickoff receiver coupling ring 14 ofstator 12 to the binary position output register 34. The capacitivelycoupled transmitter ring 14 of rotor 13 and receiver ring 26 of stator12 provide a generally uniform coupling capacity, independent of rotaryposition between rotor 13 and stator 12. The low-level, high-impedancesignal from ring 26 is converted to a low-impedance signal in thenon-inverting unity-gain first stage amplifier 27. This low-impedanceoutput is applied to the conductive guard rings 28 that surround thereceiver ring 26 to minimize local parasitic capacity that could degradethe amplifier input and further isolate the amplifier output fromundesirable stray signals under certain conditions. The output is ACcoupled to second stage inverting amplifier 29 which provides gainsufficient to bring up the signal amplitude to a useful level forcomparator stage 31 of circuitry 150. The AC coupling reduces theeffects of DC offset from the high impedance first stage amplifier 27.Additionally, the output of the amplifier 29 is applied to a low-passfilter 30, which generally attenuates the pulses in the signal stream,thereby leaving only the average DC level for use as the comparator 31input reference voltage, VREF.

The pulse train is bipolar due to the nature of the AC coupling of thecapacitive link from segments 130 to pickoff 2. At this point in thecircuit, the TRUE pulse returns are negative and the COMPLEMENT pulsereturns are positive. The digital level outputs of the comparator 31 areapplied to a single bit synchronization register 32 and are loaded intoregister 32 on the rising edge of pulse SP from the time-base generator10. Pulse SP is positioned in time to coincide with the center of thereceived TRUE or COMPLEMENT pulse signals. For example, as pickoff 2passes from a TRUE code region to a COMPLEMENT code region, the summingaction of pickoff 2 generates an output signal from the second stageamplifier 29 that changes from a negative to a positive pulse relativeto the reference voltage at the input to the comparator 31. Thecomparator output changes correspondingly during that pulse signal timewhen it is loaded into synchronization register 32. The serial digitalsignal from the synchronization register 31, which is in Gray codeformat (MSB leading), passes through a Gray-to-binary decoding stage 33and is then shifted into a 9-bit parallel output stage 34 at the nextMSB pulse time when the conversion is complete. The MSB timing pulse isprovided by the sequential pulse decoder 23 in the time-base generator10 of FIG. 3.

Referring to FIG. 6, shown therein is a schematic of pickoff amplifiercircuitry 160; where like reference numerals refer to like featurespreviously described. Circuitry 160 includes non-inverting highimpedance unity gain first stage 27, the second stage invertingamplifier 29 with a gain of 40, and the low-pass filter 30 whichprovides the reference voltage VREF for the comparator 31, of which oneimplementation is shown in greater schematic detail in FIG. 6.Synchronization register 32, decoder 33, and output register 34 are alsoshown.

In FIG. 7 a simulated oscilloscope representation of the second stagepickoff amplifier output is shown with a typical signal pattern.Positive-going COMPLEMENT pulses are shown as are the negative-goingTRUE pulses in a primary trace represented by a solid line. A secondarytrace represents the filtered REFERENCE level represented in a dashedline pattern. The typical pulse overshoot is also shown as well as thesettling time as the signal returns to the nominal average level. Theduty cycle of the pulse train is selected to allow the signal tostabilize after each pulse. The FIG. 7 illustration corresponds to theimplementation shown in FIG. 6.

Referring to FIGS. 8A, 8B and 8C, shown therein are simulatedoscilloscope representations of a signal pattern as one bit is passingthrough the transition from a TRUE state to a COMPLEMENT state, and alsoshowing the resulting sampled output. In FIG. 8A, the TRUE signal islarger than the COMPLEMENT component (TRUE>COMPLEMENT). The signals areadditive so there is still enough TRUE signal to generate a digital“one” output at that time. In FIG. 8B, the COMPLEMENT signal isgenerally equal to the TRUE signal (TRUE=COMPLEMENT), the comparator 31is biased to switch states at that level, and the output switches to adigital “zero”. In FIG. 8C, the COMPLEMENT is substantially larger thanthe TRUE signal (TRUE<COMPLEMENT), and the output is a digital “zero”.

Referring to FIG. 9, shown therein is a schematic of logic implementingGray-to-binary decoder 33. The inputs are the MSB timing pulse from thepulse generator 23, the pickoff comparator 31 output signal, and thebit-synchronizing strobe pulse SP. The output is in the form of serial9-bit binary words for loading into a serial-to-parallel register stage34. This logic includes D flip-flops U1, U2, and U5; two-input AND gateU3 and two-input exclusive OR (XOR) gate U4.

Referring to FIGS. 10-12, shown therein is a ratiometric sampled pulsecapacitively coupled position sensor 200 of another embodiment. Ananalog vernier encoding system for a limited range absolute positionsensor adopts aspects of the pickoff and TRUE/COMPLEMENT code sectortechnique previously described in connection with FIGS. 1-9. It has beendiscovered that the pickoff amplifier's pulse amplitudes respond in arelatively linear fashion as pickoff2 passes across the TRUE andCOMPLEMENT sector boundaries. Sensor 200 includes TRUE code electrodesector 210 and COMPLEMENT electrode sector 220 that can be the same asTRUE and COMPLEMENT electrodes 134 and 136, respectively. Sensor 200also includes detection device 230 with pickoff electrode 232 havingelectrode area 234 (See FIG. 11). The range of sensor 200 extends fromabout the center of TRUE sector 210 to about the center of COMPLEMENTsector 220, with pickoff electrode 232 being less than or equal tosector width.

Sensor 200 further includes timing logic 240. Timing logic 240sequentially generates a narrow positive-going TRUE pulse and a narrownegative-going COMPLEMENT pulse. These pulses are applied to thedesignated sectors 210 and 220 in sequence. As shown in FIG. 11, thepickoff acts as a summing element for the return pulses from the codesectors. The pickoff pulse signal amplifier 250 is similar to theconfiguration used for pickoff 2 of sensor 200. In one embodiment, theposition sensor includes two fast analog sample-and-hold circuits withadditional sum and difference amplifiers (sample circuitry 260) foranalog signal processing and a multiplying analog-to-digital (A/D)converter 270, which outputs a distance value corresponding to position.The pickoff's summing action provides a “vernier” type interpolation bysampling the amplitude of the received pulse as it moves across the TRUEand COMPLEMENT sectors 210 and 220 electrically separated by gap 215. Atthe output of the pickoff inverting gain amplifier, the pulse reachesits peak positive amplitude when the pickoff is fully over theCOMPLEMENT segment, and the peak negative amplitude when it is fullyover the TRUE segment. The TRUE pulse return is individually sampled andheld until the COMPLEMENT pulse is sampled. Then both signals areapplied to SUM and DIFFERENCE amplifiers of circuitry 200 to provideinputs to multiplying A/D converter 270.

The SUM (TRUE+COMPLEMENT) signal is applied as the reference voltage tothe A/D converter and the DIFFERENCE (TRUE−COMPLEMENT) signal is theconverted variable. By referencing the conversion with the SUM signal,the ratiometric nature of the conversion retains the absolute value ofthe displacement, independent of mechanical or environmental influences.The output of converter 270 is applied to a processor or controller (notshown) for further processing and/or transmittal to an application host(not shown).

In another embodiment, simultaneous bi-polar pulses are applied to boththe TRUE and COMPLEMENT sectors followed by simultaneous positive pulsesto both sectors. This alternative interpolation technique incorporatesthe SUM and DIFFERENCE function into the inherent summing property ofthe pickoff. The sampled SUM and DIFFERENCE signals could then beapplied directly to the A/D converter. Using either of these vernierinterpolation voltage waveform sequences, position is resolved to one ofseveral possible locations relative to a range R1 extending from a pointP1 on TRUE sector 210 to a corresponding point P2 on COMPLEMENT sector220, as symbolically represented in FIG. 12. In one preferred form,position is resolved to one of at least four positions along range R1.In a more preferred embodiment, position is resolved to one of at leasteight positions (3 bits) along range R1. In an even more preferredembodiment, position is resolved to at least one of 64 positions (6bits) along range R1.

In still another embodiment, the arrangement of sensor 100 is used toprovide a multiple bit sensed position value and the vernierinterpolation technique described in connection with sensor 200 isutilized relative to the segments 130 of the least significant bit (LSB)track 120 overlapped by pickoff 2. This LSB track vernier interpolationprovides a second set of bits that enhances resolution while using thesame sensor face 112 and detection device 114 for both techniques. Forthis arrangement, signal processing includes the operating logic and/orcircuitry 110 to implement the sensing technique of sensor 100; and theoperating logic and/or circuitry 240 to implement the sensing techniqueof sensor 200. For example, sample circuitry 260 and converter circuitry270 can be added to the sensor 100 to perform vernier interpolation onthe LSB track with appropriate pulse sequence adaptation along with themultitrack position sensing already provided by sensor 100. Accordingly,for a sensor arrangement combining the approaches of sensor 100 andsensor 200, position can be collectively defined with two sets of bits:a first set with each bit corresponding to a different track, and asecond set with each bit being determined relative to a particular TRUEand COMPLEMENT pair of electrodes on the LSB track.

Referring to FIGS. 13-15, several alternative implementations of thisapproach are described in terms of different physical arrangements. FIG.13 illustrates disk sensor 300 including a stator 302 and a rotor 304journaled together by rotational coupling 306. Rotor 304 turns aboutpivot axis C1 which is represented by crosshairs because it isperpendicular to the view plane of FIG. 13. Circuitry 310 includesaspects of circuitry 110 and 240 to perform the combined techniquesthereof as previously described. Specifically, a coarse positionmeasurement is defined by a first set of bits where each bit correspondsto a different one of the tracks and a more refined, least significantvalue is determined using the vernier interpolation technique of sensor200 as represented by a second set of bits less significant than thefirst set. It should be appreciated that this second set of bits isdetermined from a single track, the LSB, using the sensor 200 processingapproach.

Sensor 300 includes circular segmented tracks 311 on sensor face 312.Tracks 311 are concentric with respect to one another and axis C1.Tracks 311 define Gray code electrode pattern 316 of alternating TRUEand COMPLEMENT arcuate electrodes 320. Ellipses are used to representportions of the pattern elements that are not specifically shown in FIG.13 to preserve clarity. Pattern 316 generally appears the same as thatschematically shown in FIG. 1, with a circular shape. Sensor 300 alsoincludes detection device 330 that has detection electrode 332 extendingacross tracks 311. Electrode 332 capacitively couples to electrodes 320in the manner previously described in connection with sensors 100 and200. Specifically, detection device 330 is carried as part of rotor 304while stator 302 carries face 312. Device 330 and tracks 311 moverelative to one another in the directions indicated by double-headedarrow T1. Detection device 330 and electrode pattern 316 areelectrically coupled to circuitry 310 to operate with the combinedfeatures of sensor 100 and 200, as previously described.

FIG. 14 illustrates cylindrical sensor 400 including stator 402 androtor 404 journaled together by a rotational coupling (not shown). Rotor404 turns about rotational axis R. Circuitry 410 is also included thatcombines aspects of circuitry 110 and 240 to integrally perform thecollective techniques previously described in connection with sensor300. Sensor 400 includes circular, segmented tracks 411 on sensor face412. Tracks 411 approximately each have the same radius relative to axisR and the same path length thereabout. Tracks 411 define Gray codepattern 416 of alternating TRUE and COMPLEMENT arcuate electrodes 420.Ellipses are used to represent pattern elements that are notspecifically shown to enhance clarity. Sensor 400 also includesdetection device 430 that has detection electrode 432 spanning acrosstracks 411. Stator 402 carries detection device 430 while face 412 iscarried with rotor 404. Device 430 and tracks 411 move relative to oneanother in the directions indicated by double-headed arrow T2. Detectiondevice 430 and electrode pattern 416 are coupled to circuitry 410 tooperate in the same manner as described in connection with sensor 300.

FIG. 15 illustrates linear sensor 500 including circuitry 510 coupled totrack member 506 and detection device 530. Member 506 and detectiondevice 530 are configured so that at least one moves relative to theother to change position of detection device 530 along member 506.Member 506 includes linear segmented tracks 511 on sensor face 512.Tracks 511 extend along longitudinal axis L as illustrated. Tracks 511define a Gray code electrode pattern 516 of alternating TRUE andCOMPLEMENT electrodes 520. Ellipses are used to represent portions ofthe pattern that are not shown to enhance clarity. Detection device 530and tracks 511 move relative to one another in the directions indicatedby a double-headed arrow T3. Detection device 530 includes a detectionelectrode 532 that extends across tracks 511 to capacitively couple withelectrodes 320 that it overlaps. Detection device 530 and electrodepattern 516 are coupled to circuitry 510 to operate in the same manneras described in connection with sensors 300 and 400, previously.Circuitry 310, 410, and 510 includes a microprocessor or microcontrollerwith operating logic in the form of programming instructions to carryout the desired operations. Alternatively or additionally, a DigitalSignal Processor (DSP) and/or Application Specific Integrated Circuit(ASIC) could be utilized, and/or discrete, dedicated logic componentscorresponding to the components schematically represented in connectionwith sensors 100 and 200 could be utilized.

Referring to FIGS. 16 and 17, sensor 600 is shown. Sensor 600 includesdetection device 630. Device 630 can be used as an alternative todetection device 330 of sensor 300 shown in FIG. 13. Device 630 isprovided in a planar, disk-shaped form to be positioned opposite andspaced apart from a encoding sensor face carrying concentric tracks,such as face 312 of sensor 300. FIG. 17 schematically depicts a partialoverlay of encoding sensor face 620 with representative electrode tracks622 that can be arranged the same as outer LSB and LSB-1 tracks ofearlier described sensors. It should be appreciated that only two tracksare shown to preserve clarity. Device 630 includes electricallyconductive electrode 632 as part of electrical conductor pattern 634carried on nonconductive substrate 636. Electrode 632 is structured tocapacitively couple with tracks 622. Pattern 634 can be made usingstandard photolithographic techniques. Pattern 634 includes capacitivecoupling ring 638 electrically connected to electrode 634. Capacitivecoupling ring 638 can be utilized to transmit the signal detected withdevice 630 to processing circuitry (not shown) of the type previouslydescribed in connection with other embodiments, such as sensor 300.

Electrode 632 includes a number of different portions 640. Portions 640include central electrode portion 642 that is arranged to extend acrossall concentric tracks 622 of the encoder sensor face 620 from ring 638(See FIG. 17). Portions 640 also include a number of single trackportions 644 that only fully extend across a single track 622 (the LSBtrack) from ring 638 and two-track portions 646 that only fully extendacross two tracks 622 corresponding to the LSB and LSB-1 tracks. Theangular spacing of portions 644 is arranged so that portions 644capacitively couple with encoder electrodes of the LSB track 622 thatare being pulsed in the same manner at the same time. The angularspacing of portions 646 is arranged so that portions 646 capacitivelycouple with encoder electrodes of both the LSB and LSB-1 tracks 622 thatare being electrically pulsed in the same manner at the same time.Portions 640 operate as a common electrical node 648, such that theelectrical pulsing is additive, effectively multiplying the signalstrength as to the LSB and LSB-1 tracks 622.

Referring to FIG. 18, sensor 700 is shown. Like sensor 600, sensor 700includes circular encoder sensor face 720. Face 720 includes track 722comprised of alternating TRUE (T) and COMPLEMENTARY (C) electrodes 724,which are schematically shown as partial sector areas (only a few aredesignated by reference numerals to preserve clarity). Electrodes 724are each separated from another by a corresponding electricallynonconductive gap 726 (only a few are designated by reference numeralsto preserve clarity). The TRUE and COMPLEMENT electrodes 724 are pulsedby positive and negative going pulses in the manner previously describedfor TRUE and COMPLEMENT electrodes, respectively. Overlaying face 720 isdetection device 730. Device 730 is arranged with electrode 732 as partof electrically conductive pattern 734. Electrode 732 is positionedopposite track 722 and radially spans across track 722. Pattern 734further includes capacitive coupling ring 738. Capacitive coupling ring738 can be utilized to transmit the signal detected with device 730 toprocessing circuitry of the type previously described in connection withother embodiments (not shown). In one operating mode, sensor 700 detectstransitions between TRUE and COMPLEMENT electrodes 724 tocorrespondingly determine one of two binary states. By counting thenumber of changes in state, a relative change in angular displacementbetween face 720 and device 730 can be determined. Correspondingly,rotational speed, changes in acceleration, and like can be determinedthrough such operation by comparison to a time base. Alternatively oradditionally, previously described vernier interpolation techniques canbe employed to resolve position of electrode 732 relative to a givenpair of TRUE and COMPLEMENT electrodes 724. It should be appreciatedthat more than one electrode 732 could be used.

Referring to FIG. 19, sensor 800 is shown. Like sensor 700, sensor 800includes circular encoder sensor face 820. Sensor face 820 includes twoelectrodes 824, one pulsed as the TRUE type and the other pulsed as theCOMPLEMENT type, which are schematically shown as partial sector areas.Electrodes 824 are each separated from another by an electricallynonconductive gap hidden by another feature (one of electrodes 832) inFIG. 19. Detection device 830 is positioned opposite face 820 and spacedapart therefrom. Device 830 is arranged with a number of angularlyspaced apart electrodes 832 as part of electrically conductive pattern834. Only a few of electrodes 832 are designated by reference numeralsto preserve clarity. Electrodes 832 are each sized to span acrosselectrodes 824 when aligned therewith. Pattern 834 further includescapacitive coupling ring 838. Capacitive coupling ring 838 can beutilized to transmit the signal detected with device 830 to processingcircuitry (not shown). In one mode of operation, sensor 800 detectstransitions between TRUE and COMPLEMENT electrodes 824 as each electrode832 aligns to capacitively couple with electrodes 824 andcorrespondingly one of two binary states can be determined. By countingthe number of changes in state, a relative change in angulardisplacement between face 820 and device 830 can be determined.Likewise, rotational speed, change in acceleration, and like can bedetermined through such operation by comparison to a time base.Alternatively or additionally, previously described vernierinterpolation techniques can be employed to resolve position ofelectrode 832 relative to electrodes 824. It should be appreciated thatmore pairs of TRUE and COMPLEMENT electrodes could be used.

Referring to FIGS. 20-23, torque sensor 900 is illustrated. Sensor 900includes shaft 902 and 904 joined together by a calibrated torsion bar906. Shafts 902 and 904, and bar 906 have a common centerline axis 908that one or more may turn about during use. Axis 908 is represented bycrosshairs in FIGS. 21-23 because the view plane of these figures isperpendicular to the view plane of FIG. 20. Sensor 900 includes stator910 that includes aperture 911 through which shaft 902 extends. Stator910 is arranged to remain stationary relative to rotation of shaft 902.Stator 910 is operatively coupled to processing circuitry 990 that maybe of the type described in connection with FIGS. 10-12 to performvernier interpolation displacement processing.

Stator 910 includes capacitive coupling face 912 shown in FIG. 21. Face912 includes capacitive coupling pattern 914 with three concentricelectrically conductive rings 916. Outer conductive ring 916 a isarranged as a receiver ring to capacitively transmit detection signalsto circuitry 990 as further described hereinafter. Inner driver rings916 b and 916 c are configured to provide the positive and negativegoing pulses corresponding to TRUE and COMPLEMENT electrodes.

Sensor 900 also includes encoding sensor rotor 920. Rotor 920 is fixedto shaft 902 and to rotate therewith, and is positioned opposite stator910. Rotor 920 includes electrode face 920 a opposite capacitivecoupling face 920 b. Capacitive coupling face 920 b includes threeconcentric electrically conductive rings appearing the same as thoseshown in FIG. 21 and being sized the same to align therewith. Electrodeface 920 a is illustrated in FIG. 22. Electrode face 920 a includesouter coupling ring 922 that is connected to a like ring on face 920 bby one or more electrically conductive vias through rotor 920. Face 920a also includes a number of alternating TRUE and COMPLEMENT electrodes924 spaced apart from one another by electrically nonconductive gaps 926(only a few of which are designated by reference numerals to preserveclarity). Electrodes 924 and gaps 926 are arranged in an approximatelycircular pattern. The TRUE electrodes 924 are electrically connected toone of the inner concentric rings on face 920 b by electricallyconductive vias through rotor 920 to receive corresponding TRUE pulsesby capacitive coupling with one of rings 916 b and 916 c, and theCOMPLEMENT electrodes 924 are electrically connected to the other of theinner concentric rings on face 920 b by electrically conductive viasthrough rotor 920 to receive corresponding COMPLEMENT pulses bycapacitive coupling with the other of rings 916 b and 916 c.

Sensor 900 also includes pickup sensor rotor 930. Rotor 930 is fixed toshaft 904 to rotate therewith. As shown in FIG. 23, rotor 930 includesface 930 a with pickup electrodes 934 electrically connected tocapacitive coupling ring 938. Ring 938 is structured to be capacitivelycoupled to ring 922, which in turn is structured to be capacitivelycoupled to ring 916 a. Ring 916 a is in electrical contact withcircuitry 990.

Referring to FIGS. 20-23, various operational features are nextdescribed. As torque is applied to shaft 902 and/or 904, torsion bar 906selectively allows for relative rotation between shafts 902 and 904. Inresponse, a rotational displacement occurs between rotor 920 and rotor930 indicative of an amount of torque. As TRUE and COMPLEMENT pulses areapplied to TRUE and COMPLEMENT electrodes 924 via capacitive couplingrings 916, the resulting capacitively emitted signals from rotor 920 aredetected with pickup electrodes 934. These detected signals are providedto circuitry 990 through capacitive coupling of ring 938 to ring 922 andcapacitive coupling of ring 922 to ring 916 a. Circuitry 990 processesthe received signals form ring 916 a to perform one or more of thevernier interpolation techniques previously described to resolveposition to one of a number of positions corresponding to range R2 froma point along one of electrodes 924 across a separating gap 926 to theadjacent electrode 924. In one preferred form, position is resolved toone of at least four positions along range R2. In a more preferredembodiment, position is resolved to one of at least eight positionsalong range R2. In an even more preferred embodiment, position isresolved to at least one of 64 positions along range R2.

Many other embodiments are envisioned. For example, another embodimentof an encoding sensor apparatus includes:

a.) A stationary encoder made from conductive patterns on anonconductive substrate. The conductive patterns are configured in amulti-bit code by electrically isolated sectors arranged in a uniquesequence transverse to the direction of sensor movement to create a bitpattern that uniquely identifies position along the direction of sensormovement. The transverse bit code is propagated in the direction ofsensor movement by adjacent, electrically isolated conductive patterns.In the direction of sensor movement, alternating adjacent sectors areelectrically connected to a common node, creating two electricalconnection points for each transverse bit. Each conductive sector in theresulting pattern constitutes one plate of a capacitor structure.

b.) A movable pickoff structure constructed of a conductive material,and extending in length to cover the encoder pattern in the directiontransverse to the measurement direction and determined by the length ofthe bit code of the encoder, with a width in the direction ofmeasurement movement determined by the resolution of the sensor. Thepickoff is held at a fixed distance from the encoder pattern surfacecreating the second plate of a capacitor structure through theoverlapping areas with the encoder pattern.

c.) A capacitive transmission structure made of conductive materialelectrically connected to the moving pickoff structure and comprisingone plate of a capacitive structure and a second matching conductivepattern on a stationary non-conductive substrate such that the pickoffconnected structure is always closely positioned parallel to this secondpattern, thus creating the second plate of a capacitor structure

d.) An electronic circuit attached to the encoder pattern and capable ofsimultaneously generating a series of positive going pulses and negativegoing pulses, applied respectively to adjacent patterns of theconductive encoder pattern in the direction of measurement movement. Thecircuit then sequentially and continuously applies subsequent pulses toadjacent encoder patterns in the direction transverse to the sensormeasurement direction.

e.) A detection circuit connected to the stationary plate of thetransmission structure that can sense the presence of a positive goingpulse or a negative going pulse transmitted through the capacitivecoupling of the applied pulses from the encoder pattern to the pickoffstructure, and then to the moving transmission structure.

f.) A decoding circuit that can interpret a series of positive andnegative pulse events as a series of binary states uniquelyrepresentative of the pickoff position relative to the encoder pattern.

In a further embodiment of the invention, the non-contacting positionsensor includes two or more movable pickoff structures spaced atpredetermined intervals with the equivalent number of transmissionstructures and detection circuits. In another example, a sensor isprovided which includes one or more of the following elements andfeatures:

a.) A stationary encoder made from conductive patterns on anonconductive substrate. The conductive patterns are configured in amulti-bit code by electrically isolated sectors arranged in a uniquesequence transverse to the direction of sensor movement to create a bitpattern that uniquely identifies that position along the direction ofsensor movement. The transverse bit code is propagated in the directionof sensor movement by adjacent, electrically isolated conductivepatterns. In the direction of sensor movement, alternating adjacentsectors are electrically connected to a common node, creating twoelectrical connection points for each transverse bit. One of thoseelectrical connection nodes connected to circuit ground. Each conductivesector in the resulting pattern constitutes one plate of a capacitorstructure.

b.) A movable pickoff structure constructed of a conductive material andextending in length to cover the encoder pattern in the directiontransverse to the measurement direction and determined by the length ofthe bit code of the encoder, with a width in the direction ofmeasurement movement determined by the resolution of the sensor. Thepickoff is held at a fixed distance from the encoder pattern surfacecreating the second plate of a capacitor structure through theoverlapping areas with the encoder pattern.

c.) A capacitive transmission structure made of conductive materialelectrically connected to the moving pickoff structure and comprisingone plate of a capacitive structure and a second matching conductivepattern on a stationary non-conductive substrate such that the pickoffconnected structure is always closely positioned parallel to this secondpattern, thus creating the second plate of a capacitor structure.

d.) An electronic circuit attached to the encoder pattern and capable ofgenerating a series of positive going pulses or negative going pulsesapplied to the ungrounded connection point of the conductive encoderpattern in the direction of measurement movement. The circuit thensequentially and continuously applies subsequent pulses to adjacentencoder patterns in the direction transverse to the sensor measurementdirection.

e.) A detection circuit connected to the stationary plate of thetransmission structure that can sense the presence of a positive goingpulse or a negative going pulse transmitted through the capacitivecoupling of the applied pulses from the encoder pattern to the pickoffstructure, and then to the moving transmission structure.

f.) A decoding circuit that can interpret a series of positive ornegative pulse events as a series of binary states uniquelyrepresentative of the pickoff position relative to the encoder pattern.

In yet another example, a sensor is provided which includes one or moreof the following elements and features:

a.) A stationary encoder made from conductive patterns on anonconductive substrate. The conductive patterns configured in amulti-bit code by electrically isolated sectors arranged in a uniquesequence transverse to the direction of sensor movement to create a bitpattern that uniquely identifies that position along the direction ofsensor movement. The transverse bit code is propagated in the directionof sensor movement by adjacent, electrically isolated conductivepatterns. In the direction of sensor movement, alternating adjacentsectors are electrically connected to a common node, thereby creatingtwo electrical connection points for each transverse bit. One of thoseelectrical connection nodes connected to circuit ground. Each conductivesector in the resulting pattern constitutes one plate of a capacitorstructure.

b.) A primary movable pickoff structure constructed of a conductivematerial and extending in length to cover the encoder pattern in thedirection transverse to the measurement direction and determined by thelength of the bit code of the encoder, with a width in the direction ofmeasurement movement determined by the resolution of the sensor. Thepickoff is held at a fixed distance from the encoder pattern surfacecreating the second plate of a capacitor structure through theoverlapping areas with the encoder pattern.

c.) A secondary movable pickoff structure constructed of conductivematerial segments and extending in radial length to cover the encoderpattern in the direction transverse to the measurement direction anddetermined by the length of the bit code of the encoder, with a width inthe direction of measurement movement determined by the resolution ofthe sensor. The pickoff structure is divided the number of segmentsequal to the bit code length. Each segment is spatially offset in eitheran angular position for rotary sensing or linear position for linearsensing such that the resulting overlapping code with the stationaryencoder pattern is bit by bit opposite the pattern overlapped by theprimary pickoff. The pickoff is held at a fixed distance from theencoder pattern surface creating the second plate of a capacitorstructure through the overlapping areas with the encoder pattern.

d.) Two capacitive transmission structures made of conductive material,each electrically connected to one of the two moving pickoff structuresand comprising one plate of a capacitive structure and two matchingconductive patterns on a stationary non-conductive substrate such thatthe pickoff connected structure is always closely positioned parallel tothis second pattern, thus creating the second plate of a capacitorstructure

e.) An electronic circuit attached to the encoder pattern and capable ofgenerating a series of positive going pulses or negative going pulsesapplied to the ungrounded connection point of the conductive encoderpattern in the direction of measurement movement. The circuit thensequentially and continuously applies subsequent pulses to adjacentencoder patterns in the direction transverse to the sensor measurementdirection.

f.) Two detection circuits connected to the stationary plates of thetransmission structures that can sense the presence of a positive goingpulse or a negative going pulse transmitted through the capacitivecoupling of the applied pulses from the encoder pattern to the pickoffstructures, and then to the moving transmission structure.

g.) A decoding circuit that can combine the two pulse sequences from theprimary and secondary pickoffs to generate a series of positive ornegative pulse events as a series of binary states uniquelyrepresentative of the pickoff position relative to the encoder pattern.

In a further embodiment of the invention, the non-contacting positionsensor includes two or more movable pickoff structures spaced atpredetermined intervals with the equivalent number of transmissionstructures and detection circuits.

In still another example, a sensor is provided which includes one ormore of the following elements and features:

a.) A stationary encoder made from two conductive patterns on anonconductive substrate. The conductive patterns are configured suchthat they bisect the distance to be measured, with each pattern creatingone plate of a capacitive structure.

b.) A movable pickoff structure constructed of a conductive material andextending in length to cover the encoder pattern in the directiontransverse to the measurement direction with a width in the direction ofmeasurement movement determined by the resolution of the sensor andapproximately equal to one half the measurement distance. The pickoff isheld at a fixed distance from the encoder pattern surface forming thesecond plate of a capacitor structure through the overlapping areas withthe encoder pattern.

c.) A capacitive transmission structure made of conductive materialelectrically connected to the moving pickoff structure and comprisingone plate of a capacitive structure and a second matching conductivepattern on a stationary non-conductive substrate such that the pickoffconnected structure is always closely positioned parallel to this secondpattern, thus creating the second plate of a capacitor structure

d.) An electronic circuit attached to the encoder pattern and capable ofsequentially generating a series of alternating positive going pulsesand negative going pulses, with the pulses applied respectively andcontinuously to the adjacent patterns of the conductive encoder patternin the direction of measurement movement.

e.) A detection circuit electrically connected to the stationary plateof the transmission structure that can capture and store the amplitudeof the positive going pulse and the negative going pulse transmittedthrough the capacitive coupling of the applied pulses from the encoderpattern to the pickoff structure, and then to the moving transmissionstructure.

f.) A decoding circuit that can use the amplitude values in aratiometric fashion to determine the relative position of the pickoffwithin the sensing range.

In a further example, a sensor is provided which includes one or more ofthe following elements and features:

a.) A stationary encoder made from two conductive patterns on anonconductive substrate. The conductive patterns are configured suchthat they bisect the distance to be measured, with each pattern forminga plate of a capacitive structure

b.) A movable pickoff structure constructed of a conductive material andextending in length to cover the encoder pattern in the directiontransverse to the measurement direction with a width in the direction ofmeasurement movement determined by the resolution of the sensor andapproximately equal to one half the measurement distance. The pickoff isheld at a fixed distance from the encoder pattern surface to create thesecond plate of a capacitor structure through the overlapping areas withthe encoder pattern.

c.) A capacitive transmission structure made of conductive materialelectrically connected to the moving pickoff structure and comprisingone plate of a capacitive structure and a second matching conductivepattern on a stationary non-conductive substrate such that the pickoffconnected structure is always closely positioned parallel to this secondpattern, thus creating the second plate of a capacitor structure

d.) An electronic circuit attached to the encoder pattern and capable ofsimultaneously applying a positive going pulse one encoder pattern and anegative going pulse to the other, followed by a uni-polar pulse (eitherpositive or negative) applied simultaneously to both encoder patterns.This pattern is repeated continuously.

e.) A detection circuit electrically connected to the stationary plateof the transmission structure that can capture and store the amplitudeof the simultaneous bi-polar pulse received and uni-polar pulsetransmitted through the capacitive coupling of the applied pulses fromthe encoder pattern to the pickoff structure, and then to the movingtransmission structure.

f.) A decoding circuit that can use the amplitude values in aratiometric fashion to determine the relative position of the pickoffwithin the sensing range.

Another example is an apparatus including: means for providing a sensorface including a first electrode spaced apart from a second electrode byan electrically nonconductive gap along the sensor face; means forapplying a first voltage waveform to the first electrode and a secondvoltage waveform to the second electrode, the second voltage waveformbeing approximately an inversion of the first voltage waveform; meansfor emitting a first signal from the first electrode and a second signalfrom the second electrode in response to the applying means; means forcombining the first signal and the second signal with a third electrodepositioned opposite the sensor face and capacitively coupled to thefirst electrode and the second electrode; and means for determininginformation corresponding to position of the sensing member relative tothe first electrode and the second electrode as a function of thecombination.

Still another example includes: means for generating a signal pattern torepetitively provide a changing voltage to each of two or more tracks ofa sensor, means for capacitively coupling an electrode of the sensor tothe tracks to determine a first electrode position, means for moving atleast one of the electrode and the tracks relative to the other toresult in a second electrode position different than the first, andmeans for detecting a second group of signals emitted in response to thesignal pattern with the electrode capacitively coupled to the tracks todetermine the second electrode position.

In another example, a sensor includes a sensor track with a firstelectrode spaced apart from a second electrode by an electricallynonconductive gap, and a third electrode positioned opposite this track.The sensor also includes means for providing a first voltage waveform tothe first electrode and a second voltage waveform to the secondelectrode where such waveforms differ from one another. Also includedare means for capacitively coupling the third electrode to the track todetect a first signal from the first electrode in response to the firstwaveform and a second signal from the second electrode in response tothe second waveform, and means for determining informationrepresentative of position of the third electrode along the sensor trackas a function of the first signal and the second signal.

Further, it should be appreciated that among the forms of the presentinvention the circuitry utilized can be in many different forms. Forexample, some or all of such circuitry can be implemented with one ormore microprocessors, microcontrollers, digital signal processors,application specific integrated circuits, dedicated circuitry, or thelike with some or all operating logic being implemented in the form ofsoftware programming instructions, firmware, and/or dedicated hardwiredlogic. Alternatively or additionally, sensors according to theembodiments of the present application can determine position relativeto one member moving while the other remains fixed and/or by moving twoor more members relative to one another to result in positional changes.Likewise, as contrasted by a comparison of sensor 500 to sensors 300 and400, positional changes can be brought about by rotation, translation,or a combination of such movement types. Furthermore, displacementinformation other than position can also be determined such as velocity,speed, acceleration, or the like using corresponding operating logic.

While the invention has been illustrated and described in detail in thedrawings and foregoing description, the same is to be consideredillustrative and not restrictive in character, it being understood thatonly selected embodiments have been shown and described and that allchanges, equivalents, and modifications that come within the scope ofthe inventions described herein or defined by the following claims aredesired to be protected. Any experiments, experimental examples, orexperimental results provided herein are intended to be illustrative ofthe present invention and should not be construed to limit or restrictthe invention scope. Further, any theory, mechanism of operation, proof,or finding stated herein is meant to further enhance understanding ofthe present invention and is not intended to limit the present inventionin any way to such theory, mechanism of operation, proof, or finding. Inreading the claims, words such as “a”, “an”, “at least on”, and “atleast a portion” are not intended to limit the claims to only one itemunless specifically stated to the contrary. Further, when the language“at least a portion” and/or “a portion” is used, the claims may includea portion and/or the entire item unless specifically stated to thecontrary.

1. A method, comprising: providing a sensor with a first memberincluding a first electrode and a second electrode separated from thefirst electrode by an electrically nonconductive gap, and a secondmember including a third electrode positioned opposite the first member;sequentially applying a first voltage waveform to the first electrodeand a second voltage waveform to the second electrode; capacitivelycoupling the third electrode to the first member to provide a firstsignal in response to the application of the first waveform and a secondsignal in response to the application of the second waveform; andevaluating the first signal and the second signal relative to oneanother to resolve position of the third electrode to one of four ormore different positions corresponding to a range, the range being froma first point on the first electrode, and along the gap to a secondpoint on the second electrode.
 2. The method of claim 1, wherein thesecond waveform is an inverted form of the first waveform and saidevaluating includes: determining a sum from the first signal and thesecond signal; determining a difference from the first signal and thesecond signal; determining a ratio from the sum and the difference; anddetermining the one of the positions as a function of the ratio.
 3. Themethod of claim 1, which includes: applying a third voltage waveform tothe second electrode during the application of the first voltagewaveform to the first electrode, the first signal corresponding to aresponse from the first electrode to the first waveform and the secondelectrode to the third waveform; applying a fourth voltage waveform tothe first electrode during application of the second voltage waveform tothe second electrode, the second signal corresponding to a response fromthe first electrode to the fourth waveform and the second electrode tothe second waveform; determining a ratio from the first signal and thesecond signal, one of the first signal and the second signalcorresponding to a sum and another of the first signal and the secondsignal corresponding to a difference; and determining the one of thepositions as a function of the ratio.
 4. The method of claim 3, whereinthe first waveform and the third waveform are approximately the same andthe fourth waveform is approximately an inverse of the second waveform.5. The method of claim 3, wherein the first waveform is approximately aninverse of the third waveform and the second waveform and the fourthwaveform are approximately the same.
 6. The method of claim 1, whereinthe four or more positions number at least eight, said evaluatingincludes interpolating the one of the positions as function of arelationship between the first signal and the second signal, the firstmember includes a number of segmented tracks, the electrode and thesecond electrode being included in a selected one of the tracks, thesecond member extends across the tracks, and further comprising:determining a first set of bits each corresponding to a different one ofthe tracks; and determining a second set of bits in accordance with saidevaluating, the second number of bits corresponding to the one of thepositions along the range for the selected one of the tracks, the firstset of bits being more numerically significant that the second set ofbits.
 7. The method of claim 6, wherein the third member includes anelectrode with a first portion sized to span across all of the tracks,and a second portion sized and shaped to span across the selected one ofthe tracks and less than all of the tracks.
 8. A method, comprising:applying a voltage waveform sequence to a sensor track, the trackincluding a first electrode and a second electrode separated by anelectrically nonconductive gap, and a third electrode positionedopposite the track; capacitively coupling the third electrode to thefirst electrode and the second electrode to provide a sequence ofdetection signals in response to the waveform sequence; processing thesequence of detection signals to provide a comparison of a signal sumand a signal difference; and interpolating position of the thirdelectrode relative to a range along the first electrode, the gap, andthe second electrode.
 9. The method of claim 8, wherein said applyingincludes providing a first waveform to the first electrode and a secondwaveform to the second electrode at different times during the voltagewaveform sequence, the second waveform being approximately an inversionof the first waveform.
 10. The method of claim 8, wherein the sequenceof detection signals includes a first signal from the first electrodeand a second signal from the second electrode, and said processingincludes determining the signal sum and the difference from the firstsignal and the second signal.
 11. The method of claim 8, wherein saidapplying includes providing a first pair of voltage waveformssimultaneously to the first electrode and the second electrode during afirst time period of the waveform sequence and a second pair of voltagewaveforms simultaneously to the first electrode and the second electrodeduring a second time period of the waveform sequence, and furthercomprising: determining the signal sum from one of the first pair andthe second pair; and determining the signal difference from another ofthe first pair and the second pair.
 12. The method of claim 8, whereinsaid interpolating resolves the position to one of eight or morepositions along the range, the sensor track is a selected one of anumber of sensor tracks, and the third electrode extends across thetracks, and further comprising: determining a first set of bits eachcorresponding to a different one of the tracks; and determining a secondset of bits from said interpolating, the first set of bits being morenumerically significant that the second set of bits.
 13. The method ofclaim 12, wherein the third member includes an electrode with a firstportion sized to span across all of the tracks, and a second portionsized and positioned to span across only two of the tracks including theselected one of the tracks, and a third portion sized and positioned tospan across only the selected one of the tracks.
 14. Apparatus,comprising: a sensor face including a track with a first electrode and asecond electrode separated from one another by an electricallynonconductive gap; a detection device spaced apart from the track toreceive signals form the first electrode and the second electrode bycapacitive coupling; and sensor circuitry electrically coupled to thetrack and the detection device, the circuitry being structured toprovide a voltage waveform sequence to the first electrode and thesecond electrode and process a sequence of detection signals from thedetection device in response to the waveform sequence by comparing asignal sum and a signal difference to interpolate position of thedetection device relative to a range of positions along the firstelectrode and the second electrode.
 15. The apparatus of claim 14,wherein the sensor face is mounted to turn with a first shaft, thedetection device is mounted to turn with a second shaft, and theapparatus is structured to provide an output corresponding to torquebased on the position.
 16. The apparatus of claim 15, wherein the sensorface and the detection device are operatively coupled to the sensorcircuitry by capacitive coupling.
 17. The apparatus of claim 14, whereinthe sensor face includes a plurality of other tracks and the detectiondevice extends across the other tracks.
 18. The apparatus of claim 14,wherein the circuitry includes means for determining a ratio andinterpolating the position as a function of the ratio with a resolutionto any of eight or more possible positions.
 19. The apparatus of claim14, wherein the detection device includes an electrode with a firstportion extending across the track and the other tracks, and a secondportion extending across the track and less than all the other tracks.20. The apparatus of claim 18, wherein the electrode includes a thirdportion sized and positioned to extend across only the track and thesecond portion is sized and positioned to extend across only the trackand one of the other tracks.